#!/usr/bin/python
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# Author: Stuart Glaser

import threading
import sys
from time import sleep

# Loads interface with the robot.
import rospy
from ros_ethercat_model.calibrate_class import Calibrate

def main():
    if rospy.is_shutdown():
        return

    rospy.init_node('calibration', anonymous=True)

    calibrate_class = Calibrate()
    calibrate_class.pub_calibrated.publish(False)
    # Don't calibrate the IMU unless ordered to by user
    cal_imu = rospy.get_param('calibrate_imu', False)

    if cal_imu:
        imustatus = calibrate_class.calibrate_imu()
    else:
        imustatus = True

    controllers = rospy.myargv()[1:]

    if not calibrate_class.calibrate(controllers):
        sys.exit(3)

    calibrate_class.pub_calibrated.publish(True)

    if not imustatus:
        print("Mechanism calibration complete, but IMU calibration failed")
    else:
        print("Calibration complete")

    rospy.spin()

if __name__ == '__main__':
    main()
